4 papers
Learning Generalizable Robot Policy with Human Demonstration Video as a Prompt
Xiang Zhu, Yichen Liu, Hezhong Li +1
Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require…
Generalizing from References using a Multi-Task Reference and Goal-Driven RL Framework
Jiashun Wang, M. Eva Mungai, He Li +3
Learning agile humanoid behaviors from human motion offers a powerful route to natural, coordinated control, but existing approaches face a persistent trade-off: reference-tracking…
ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control
Jean Pierre Sleiman, He Li, Alphonsus Adu-Bredu +25
Achieving robust, human-like whole-body control on humanoid robots for agile, contact-rich behaviors remains a central challenge, demanding heavy per-skill engineering and a brittl…
TOP: Time Optimization Policy for Stable and Accurate Standing Manipulation with Humanoid Robots
Zhenghan Chen, Haocheng Xu, Haodong Zhang +7
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are…